The invention relates to a four-wheel steering vehicle driving and parking integrated automatic driving control method and system and a medium, and the method comprises the steps: U1, enabling an unmanned vehicle to run on a road, obtaining the planning track data information and the position data information of the vehicle in real time, and obtaining the position of the vehicle and the target point of the planning track according to the shortest distance principle; and U2, based on the position of the vehicle and the target point of the planned trajectory, estimating the front wheel turning angle and the rear wheel turning angle of the vehicle by adopting an optimal control algorithm to obtain the front wheel turning angle data information and the rear wheel turning angle data information of the vehicle. The same-proportion method is adopted to calculate the front wheel turning angle and the rear wheel turning angle, the situation that the same curvature corresponds to multiple sets of front and rear wheel turning angle solutions is avoided, vehicle dynamics models are switched in a self-adaptive mode, and four-wheel steering vehicle driving and parking integrated automatic driving control is achieved.
本发明涉及一种四轮转向车辆行泊一体自动驾驶控制方法、系统及介质,所述方法包括:U1.无人驾驶车辆行驶在道路上,实时获取车辆的规划轨迹数据信息和车辆的位置数据信息,并根据距离最短原则,得到车辆位置与规划轨迹的目标点;U2.基于所述车辆位置与规划轨迹的目标点,采用最优控制算法对车辆的前轮转角和后轮转角进行估算,得到车辆的前轮转角数据信息和车辆的后轮转角数据信息。本发明不仅采用同比例方法计算前轮转角和后轮转角,避免了同一曲率对应多组前后轮转角解的情况,而且自适应切换车辆动力学模型,达到四轮转向车辆行泊一体自动驾驶控制。
Four-wheel steering vehicle driving and parking integrated automatic driving control method and system and medium
一种四轮转向车辆行泊一体自动驾驶控制方法、系统及介质
2024-03-15
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B62D MOTOR VEHICLES , Motorfahrzeuge / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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